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Maestrio configuration

Bliss maestrio configuration

An example for a typical maestrio configuration for fscan can be:

- name: maestrioeu6
  plugin: bliss
  class: Maestrio
  host: maestrioeu6
  channels:
  - channel: CH1
    label: mot1

  - channel: CH2
    label: mot2
    steps_per_unit: 200
    offset: 0.

  - channel: CH3
    switch: $icebcu2_switch

The configuration should declare all accessible encoder input, either encoder direcly plug onto the board or via a switch. Following configuration keys can be used:

  • channel : define which channel input is used (CH1 to CH6)
  • label : name to reference this channel. for fscan, the associated motor name is used.
  • switch : if a switch is connected to the channel, give a reference to the bliss switch object (icepap or pi712 switch for example). If swicth is used, no label has to be defined. The switch object itself will gives the reference names.

Additiionnal configuration related to encoder conversion can be added. Those configuration are used when encoder has a different resolution than the associated motor. These parameters are:

  • steps_per_unit : steps per unit of the input encoder
  • offset : offset of the input encoder (this is not the motor offset)
  • modulo : if the encoder works on a modulo base. For example, absolute encoder on an infinite rotation which delivers position in 360 range only.
  • sign : sign of the encoder (may be opposite to linked motor direction)
  • unit : unit string used for display

Refer to bliss maestrio documentation for more details.

Checking encoder input

For each motor, fscan expects either encoder or motor steps to be provided by one maestrio channel. To convert these steps to positions, fscan is using in preference order :

  • the resolution configured on the maestrio channel
  • the motor encoder steps_per_unit parameter (in bliss, mymotor.encoder.steps_per_unit)
  • the motor steps_per_unit (in bliss, mymotor.steps_per_unit) will be used. The direction of steps recorded on maestrio musst match the motor dial steps direction.

A small script is provided for checking that a motor and its assoicated maestrio channel are working properly. It will launch a movement on the motor in both directions and check direction and number of steps seen by the maestrio board. 

FSCANTEST [1]: from fscan.utils import check_motor_on_maestrio
FSCANTEST [2]: check_motor_on_maestrio(maestrioeu6, mot1)
motor resolution   = 200.0 steps/unit
encoder resolution = 200.0 steps/unit

> Search motor on MAESTRIO:
found on channel     = 1
channel type         = QUAD
maestrio resolution  = 200.0 steps/unit

> Move relative +1:
Steps seen on MAESTRIO  = 202 steps

> Move relative -1:
Steps seen on MAESTRIO  = -198 steps

> CHECK RESULT:
All tests OK. You can use this motor/maestrio in fscans.

The tool will report, if either the number of steps recorded or the direction is wrong.